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<a href="mip__sdk__gps_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment"></span><span class="comment">//</span>
<a name="l00008"></a>00008 <span class="comment"></span><span class="comment">//</span>
<a name="l00009"></a>00009 <span class="comment">// External dependencies:</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">//  </span>
<a name="l00012"></a>00012 <span class="comment">// </span>
<a name="l00014"></a>00014 <span class="comment"></span><span class="comment">//</span>
<a name="l00017"></a>00017 <span class="comment"></span><span class="comment">//</span>
<a name="l00027"></a>00027 <span class="comment"></span><span class="comment">//</span>
<a name="l00029"></a>00029 <span class="comment"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef _MIP_SDK_GPS_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define _MIP_SDK_GPS_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="comment">//</span>
<a name="l00035"></a>00035 <span class="comment">//Include Files</span>
<a name="l00036"></a>00036 <span class="comment">//</span>
<a name="l00038"></a>00038 <span class="comment"></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;<a class="code" href="mip_8h.html">mip.h</a>&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;<a class="code" href="mip__sdk__interface_8h.html">mip_sdk_interface.h</a>&quot;</span>
<a name="l00041"></a>00041 
<a name="l00042"></a>00042 
<a name="l00044"></a>00044 <span class="comment">//</span>
<a name="l00045"></a>00045 <span class="comment">// Defines</span>
<a name="l00046"></a>00046 <span class="comment">//</span>
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00050"></a>00050 
<a name="l00051"></a>00051 
<a name="l00053"></a>00053 <span class="comment">//</span>
<a name="l00054"></a>00054 <span class="comment">// Descriptor Set designator - used in the Desc Set field of the MIP header</span>
<a name="l00055"></a>00055 <span class="comment">//</span>
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="preprocessor">#define MIP_GPS_DATA_SET                                        0x81</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span>
<a name="l00060"></a>00060 
<a name="l00062"></a>00062 <span class="comment">//</span>
<a name="l00063"></a>00063 <span class="comment">// Descriptors </span>
<a name="l00064"></a>00064 <span class="comment">//</span>
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment">// GPS LEGACY (RAW) DATA DESCRIPTORS</span>
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="preprocessor">#define MIP_GPS_DATA_NMEA                               0x01            // uBlox NMEA packet </span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_UBX                                        0x02            // uBlox packet </span>
<a name="l00073"></a>00073 <span class="preprocessor"></span>
<a name="l00075"></a>00075 <span class="comment">// GPS DATA DESCRIPTORS</span>
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="preprocessor">#define MIP_GPS_DATA_LLH_POS                            0x03</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_ECEF_POS                           0x04</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_NED_VELOCITY                       0x05</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_ECEF_VELOCITY                      0x06</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_DOP                                0x07</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_UTC_TIME                   0x08</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_GPS_TIME                   0x09</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_CLOCK_INFO                 0x0A</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_FIX_INFO                   0x0B</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_SV_INFO                    0x0C</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DATA_HW_STATUS                  0x0D</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span>
<a name="l00090"></a>00090 
<a name="l00092"></a>00092 <span class="comment">//</span>
<a name="l00093"></a>00093 <span class="comment">// Valid Data Flag Definitions</span>
<a name="l00094"></a>00094 <span class="comment">//</span>
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 
<a name="l00099"></a>00099 <span class="comment">// Position: Latitude, Longitude, Height</span>
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="preprocessor">#define MIP_GPS_LLH_POS_LAT_LON_VALID             0x0001</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_LLH_POS_ELLIPSOID_HEIGHT_VALID    0x0002</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_LLH_MSL_HEIGHT_VALID              0x0004</span>
<a name="l00105"></a>00105 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_LLH_POS_HORIZONTAL_ACCURACY_VALID 0x0008</span>
<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_LLH_POS_VERTICAL_ACCURACY_VALID   0x0010</span>
<a name="l00107"></a>00107 <span class="preprocessor"></span>
<a name="l00108"></a>00108 <span class="preprocessor">#define MIP_GPS_LLH_POS_PACKET_VALID   (MIP_GPS_LLH_POS_LAT_LON_VALID | MIP_GPS_LLH_POS_ELLIPSOID_HEIGHT_VALID    |\</span>
<a name="l00109"></a>00109 <span class="preprocessor">                                        MIP_GPS_LLH_MSL_HEIGHT_VALID  | MIP_GPS_LLH_POS_HORIZONTAL_ACCURACY_VALID |\</span>
<a name="l00110"></a>00110 <span class="preprocessor">                                        MIP_GPS_LLH_POS_VERTICAL_ACCURACY_VALID)</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span>
<a name="l00112"></a>00112 
<a name="l00114"></a>00114 <span class="comment">// Position: ECEF (Earth-Centered, Earth-Fixed)</span>
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="preprocessor">#define MIP_GPS_ECEF_POS_POSITION_VALID            0x0001</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ECEF_POS_ACCURACY_ESTIMATE_VALID   0x0002</span>
<a name="l00119"></a>00119 <span class="preprocessor"></span>
<a name="l00120"></a>00120 <span class="preprocessor">#define MIP_GPS_ECEF_POS_PACKET_VALID (MIP_GPS_ECEF_POS_POSITION_VALID | MIP_GPS_ECEF_POS_ACCURACY_ESTIMATE_VALID)</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span>
<a name="l00122"></a>00122 
<a name="l00124"></a>00124 <span class="comment">// Velocity: NED (North, East, Down)</span>
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="preprocessor">#define MIP_GPS_NED_VEL_VELOCITY_VALID            0x0001</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_NED_VEL_SPEED_3D_VALID            0x0002</span>
<a name="l00129"></a>00129 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_NED_VEL_GROUND_SPEED_VALID        0x0004</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_NED_VEL_HEADING_VALID             0x0008</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_NED_VEL_SPEED_ACCURACY_VALID      0x0010</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_NED_VEL_HEADING_ACCURACY_VALID    0x0020</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span>
<a name="l00134"></a>00134 <span class="preprocessor">#define MIP_GPS_NED_VEL_PACKET_VALID (MIP_GPS_NED_VEL_VELOCITY_VALID       | MIP_GPS_NED_VEL_SPEED_3D_VALID | \</span>
<a name="l00135"></a>00135 <span class="preprocessor">                                      MIP_GPS_NED_VEL_GROUND_SPEED_VALID   | MIP_GPS_NED_VEL_HEADING_VALID  | \</span>
<a name="l00136"></a>00136 <span class="preprocessor">                                      MIP_GPS_NED_VEL_SPEED_ACCURACY_VALID | MIP_GPS_NED_VEL_HEADING_ACCURACY_VALID)</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span>
<a name="l00138"></a>00138 
<a name="l00140"></a>00140 <span class="comment">// Velocity: ECEF (Earth-Centered, Earth-Fixed)</span>
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="preprocessor">#define MIP_GPS_ECEF_VEL_VELOCITY_VALID            0x0001</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ECEF_VEL_ACCURACY_ESTIMATE_VALID   0x0002</span>
<a name="l00145"></a>00145 <span class="preprocessor"></span>
<a name="l00146"></a>00146 <span class="preprocessor">#define MIP_GPS_ECEF_VEL_PACKET_VALID (MIP_GPS_ECEF_VEL_VELOCITY_VALID | MIP_GPS_ECEF_VEL_ACCURACY_ESTIMATE_VALID)</span>
<a name="l00147"></a>00147 <span class="preprocessor"></span>
<a name="l00148"></a>00148 
<a name="l00150"></a>00150 <span class="comment">// GPS Fix Information</span>
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="preprocessor">#define MIP_GPS_FIX_INFO_FIX_TYPE_VALID  0x0001</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_INFO_NUM_SV_VALID    0x0002</span>
<a name="l00155"></a>00155 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_INFO_FIX_FLAGS_VALID 0x0004</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span>
<a name="l00157"></a>00157 <span class="preprocessor">#define MIP_GPS_FIX_INFO_PACKET_VALID (MIP_GPS_FIX_INFO_FIX_TYPE_VALID | MIP_GPS_FIX_INFO_NUM_SV_VALID | \</span>
<a name="l00158"></a>00158 <span class="preprocessor">                                       MIP_GPS_FIX_INFO_FIX_FLAGS_VALID)</span>
<a name="l00159"></a>00159 <span class="preprocessor"></span>
<a name="l00160"></a>00160 <span class="preprocessor">#define MIP_GPS_FIX_TYPE_3D        0x00</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_TYPE_2D        0x01</span>
<a name="l00162"></a>00162 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_TYPE_TIME_ONLY 0x02</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_TYPE_NONE      0x03</span>
<a name="l00164"></a>00164 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_FIX_TYPE_INVALID   0x04</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span>
<a name="l00166"></a>00166 
<a name="l00167"></a>00167 
<a name="l00169"></a>00169 <span class="comment">// GPS SV (Space Vehicle) Information</span>
<a name="l00171"></a>00171 <span class="comment"></span>
<a name="l00172"></a>00172 <span class="preprocessor">#define MIP_GPS_SV_INFO_MAX_SV_NUMBER 32</span>
<a name="l00173"></a>00173 <span class="preprocessor"></span>
<a name="l00174"></a>00174 <span class="preprocessor">#define MIP_GPS_SV_INFO_CHANNEL_VALID              0x0001</span>
<a name="l00175"></a>00175 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_INFO_SV_ID_VALID                0x0002</span>
<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_INFO_CARRIER_NOISE_RATIO_VALID  0x0008</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_INFO_AZIMUTH_VALID              0x0010</span>
<a name="l00178"></a>00178 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_INFO_ELEVATION_VALID            0x0020</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_INFO_SV_FLAGS_VALID             0x0040</span>
<a name="l00180"></a>00180 <span class="preprocessor"></span>
<a name="l00181"></a>00181 <span class="preprocessor">#define MIP_GPS_SV_INFO_PACKET_VALID (MIP_GPS_SV_INFO_CHANNEL_VALID             | MIP_GPS_SV_INFO_SV_ID_VALID   | \</span>
<a name="l00182"></a>00182 <span class="preprocessor">                                      MIP_GPS_SV_INFO_CARRIER_NOISE_RATIO_VALID | MIP_GPS_SV_INFO_AZIMUTH_VALID | \</span>
<a name="l00183"></a>00183 <span class="preprocessor">                                      MIP_GPS_SV_INFO_ELEVATION_VALID           | MIP_GPS_SV_INFO_SV_FLAGS_VALID)</span>
<a name="l00184"></a>00184 <span class="preprocessor"></span>
<a name="l00185"></a>00185 <span class="preprocessor">#define MIP_GPS_SV_FLAG_USED_FOR_NAVIGATION 0x01</span>
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SV_FLAG_HEALTH              0x02</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span>
<a name="l00188"></a>00188 
<a name="l00190"></a>00190 <span class="comment">// GPS DOP (Dilution of Precision) Information</span>
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="preprocessor">#define MIP_GPS_DOP_GDOP_VALID              0x0001</span>
<a name="l00194"></a>00194 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_PDOP_VALID              0x0002</span>
<a name="l00195"></a>00195 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_HDOP_VALID              0x0004</span>
<a name="l00196"></a>00196 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_VDOP_VALID              0x0008</span>
<a name="l00197"></a>00197 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_TDOP_VALID              0x0010</span>
<a name="l00198"></a>00198 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_NDOP_VALID              0x0020</span>
<a name="l00199"></a>00199 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_DOP_EDOP_VALID              0x0040</span>
<a name="l00200"></a>00200 <span class="preprocessor"></span>
<a name="l00201"></a>00201 <span class="preprocessor">#define MIP_GPS_DOP_PACKET_VALID  (MIP_GPS_DOP_GDOP_VALID | MIP_GPS_DOP_PDOP_VALID | MIP_GPS_DOP_HDOP_VALID | \</span>
<a name="l00202"></a>00202 <span class="preprocessor">                                   MIP_GPS_DOP_VDOP_VALID | MIP_GPS_DOP_TDOP_VALID | MIP_GPS_DOP_NDOP_VALID | \</span>
<a name="l00203"></a>00203 <span class="preprocessor">                                   MIP_GPS_DOP_EDOP_VALID)</span>
<a name="l00204"></a>00204 <span class="preprocessor"></span>
<a name="l00205"></a>00205   
<a name="l00207"></a>00207 <span class="comment">// GPS UTC (Coordinated Universal Time) Time</span>
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="preprocessor">#define MIP_GPS_UTC_TIME_GPS_TIME_DATE_VALID       0x0001</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_UTC_TIME_LEAP_SECONDS_KNOWN_VALID  0x0002</span>
<a name="l00212"></a>00212 <span class="preprocessor"></span>
<a name="l00213"></a>00213 <span class="preprocessor">#define MIP_GPS_UTC_TIME_PACKET_VALID (MIP_GPS_UTC_TIME_GPS_TIME_DATE_VALID | MIP_GPS_UTC_TIME_LEAP_SECONDS_KNOWN_VALID)</span>
<a name="l00214"></a>00214 <span class="preprocessor"></span>
<a name="l00215"></a>00215 
<a name="l00217"></a>00217 <span class="comment">// GPS Time</span>
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="preprocessor">#define MIP_GPS_TIME_TOW_VALID          0x0001</span>
<a name="l00221"></a>00221 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_TIME_WEEK_NUMBER_VALID  0x0002</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span>
<a name="l00223"></a>00223 <span class="preprocessor">#define MIP_GPS_TIME_PACKET_VALID (MIP_GPS_TIME_TOW_VALID | MIP_GPS_TIME_WEEK_NUMBER_VALID)</span>
<a name="l00224"></a>00224 <span class="preprocessor"></span>
<a name="l00225"></a>00225 
<a name="l00227"></a>00227 <span class="comment">// GPS Clock Information</span>
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="preprocessor">#define MIP_GPS_CLOCK_INFO_BIAS_VALID               0x0001</span>
<a name="l00231"></a>00231 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_CLOCK_INFO_DRIFT_VALID              0x0002</span>
<a name="l00232"></a>00232 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_CLOCK_INFO_ACCURACY_ESTIMATE_VALID  0x0004</span>
<a name="l00233"></a>00233 <span class="preprocessor"></span>
<a name="l00234"></a>00234 <span class="preprocessor">#define MIP_GPS_CLOCK_INFO_PACKET_VALID (MIP_GPS_CLOCK_INFO_BIAS_VALID | MIP_GPS_CLOCK_INFO_DRIFT_VALID | \</span>
<a name="l00235"></a>00235 <span class="preprocessor">                                         MIP_GPS_CLOCK_INFO_ACCURACY_ESTIMATE_VALID)</span>
<a name="l00236"></a>00236 <span class="preprocessor"></span>
<a name="l00238"></a>00238 <span class="comment">// GPS Hardware Status</span>
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="preprocessor">#define MIP_GPS_HW_STATUS_SENSOR_STATE_VALID   0x0001</span>
<a name="l00242"></a>00242 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_HW_STATUS_ANTENNA_STATE_VALID  0x0002</span>
<a name="l00243"></a>00243 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_HW_STATUS_ANTENNA_POWER_VALID  0x0004</span>
<a name="l00244"></a>00244 <span class="preprocessor"></span>
<a name="l00245"></a>00245 <span class="preprocessor">#define MIP_GPS_HW_STATUS_PACKET_VALID (MIP_GPS_HW_STATUS_SENSOR_STATE_VALID  | \</span>
<a name="l00246"></a>00246 <span class="preprocessor">                                        MIP_GPS_HW_STATUS_ANTENNA_STATE_VALID | \</span>
<a name="l00247"></a>00247 <span class="preprocessor">                                        MIP_GPS_HW_STATUS_ANTENNA_POWER_VALID)</span>
<a name="l00248"></a>00248 <span class="preprocessor"></span>
<a name="l00249"></a>00249 
<a name="l00250"></a>00250 <span class="preprocessor">#define MIP_GPS_SENSOR_STATE_OFF      0x00</span>
<a name="l00251"></a>00251 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SENSOR_STATE_ON       0x01</span>
<a name="l00252"></a>00252 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_SENSOR_STATE_UNKNOWN  0x02</span>
<a name="l00253"></a>00253 <span class="preprocessor"></span>
<a name="l00254"></a>00254 <span class="preprocessor">#define MIP_GPS_ANTENNA_STATE_INIT    0x01</span>
<a name="l00255"></a>00255 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_STATE_SHORT   0x02</span>
<a name="l00256"></a>00256 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_STATE_OPEN    0x03</span>
<a name="l00257"></a>00257 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_STATE_GOOD    0x04</span>
<a name="l00258"></a>00258 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_STATE_UNKNOWN 0x05</span>
<a name="l00259"></a>00259 <span class="preprocessor"></span>
<a name="l00260"></a>00260 <span class="preprocessor">#define MIP_GPS_ANTENNA_POWER_OFF     0x00</span>
<a name="l00261"></a>00261 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_POWER_ON      0x01</span>
<a name="l00262"></a>00262 <span class="preprocessor"></span><span class="preprocessor">#define MIP_GPS_ANTENNA_POWER_UNKNOWN 0x02</span>
<a name="l00263"></a>00263 <span class="preprocessor"></span>
<a name="l00264"></a>00264 
<a name="l00266"></a>00266 <span class="comment">//</span>
<a name="l00267"></a>00267 <span class="comment">// Field Data Structures</span>
<a name="l00268"></a>00268 <span class="comment">//</span>
<a name="l00270"></a>00270 <span class="comment"></span>
<a name="l00271"></a>00271 <span class="preprocessor">#pragma pack(1)</span>
<a name="l00272"></a>00272 <span class="preprocessor"></span>
<a name="l00274"></a>00274 <span class="comment">// Position: Latitude, Longitude, Height</span>
<a name="l00276"></a>00276 <span class="comment"></span>
<a name="l00277"></a><a class="code" href="struct__mip__gps__llh__pos.html">00277</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__llh__pos.html">_mip_gps_llh_pos</a>
<a name="l00278"></a>00278 {
<a name="l00279"></a>00279  <span class="keywordtype">double</span> latitude, longitude;                    <span class="comment">//(deg, deg)</span>
<a name="l00280"></a>00280  <span class="keywordtype">double</span> ellipsoid_height, msl_height;           <span class="comment">//(m)</span>
<a name="l00281"></a>00281  <span class="keywordtype">float</span>  horizontal_accuracy, vertical_accuracy; <span class="comment">//(m)</span>
<a name="l00282"></a>00282  u16    valid_flags;
<a name="l00283"></a>00283 }<a class="code" href="struct__mip__gps__llh__pos.html">mip_gps_llh_pos</a>;
<a name="l00284"></a>00284 
<a name="l00285"></a>00285 
<a name="l00287"></a>00287 <span class="comment">// Position: ECEF (Earth-Centered, Earth-Fixed)</span>
<a name="l00289"></a>00289 <span class="comment"></span>
<a name="l00290"></a><a class="code" href="struct__mip__gps__ecef__pos.html">00290</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__ecef__pos.html">_mip_gps_ecef_pos</a>
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292  <span class="keywordtype">double</span> x[3];       <span class="comment">//(m)</span>
<a name="l00293"></a>00293  <span class="keywordtype">float</span>  x_accuracy; <span class="comment">//(m)</span>
<a name="l00294"></a>00294  u16    valid_flags;
<a name="l00295"></a>00295 }<a class="code" href="struct__mip__gps__ecef__pos.html">mip_gps_ecef_pos</a>;
<a name="l00296"></a>00296 
<a name="l00297"></a>00297 
<a name="l00299"></a>00299 <span class="comment">// Velocity: NED (North, East, Down)</span>
<a name="l00301"></a>00301 <span class="comment"></span>
<a name="l00302"></a><a class="code" href="struct__mip__gps__ned__vel.html">00302</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__ned__vel.html">_mip_gps_ned_vel</a>
<a name="l00303"></a>00303 {
<a name="l00304"></a>00304  <span class="keywordtype">float</span> v[3];             <span class="comment">//(m/s)</span>
<a name="l00305"></a>00305  <span class="keywordtype">float</span> speed;            <span class="comment">//(m/s)</span>
<a name="l00306"></a>00306  <span class="keywordtype">float</span> ground_speed;     <span class="comment">//(m/s)</span>
<a name="l00307"></a>00307  <span class="keywordtype">float</span> heading;          <span class="comment">//(deg)</span>
<a name="l00308"></a>00308  <span class="keywordtype">float</span> speed_accuracy;   <span class="comment">//(m/s)</span>
<a name="l00309"></a>00309  <span class="keywordtype">float</span> heading_accuracy; <span class="comment">//(deg)</span>
<a name="l00310"></a>00310  u16   valid_flags;
<a name="l00311"></a>00311 }<a class="code" href="struct__mip__gps__ned__vel.html">mip_gps_ned_vel</a>;
<a name="l00312"></a>00312 
<a name="l00313"></a>00313 
<a name="l00315"></a>00315 <span class="comment">// Velocity: ECEF (Earth-Centered, Earth-Fixed)</span>
<a name="l00317"></a>00317 <span class="comment"></span>
<a name="l00318"></a><a class="code" href="struct__mip__ecef__vel.html">00318</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__ecef__vel.html">_mip_ecef_vel</a>
<a name="l00319"></a>00319 {
<a name="l00320"></a>00320  <span class="keywordtype">float</span> v[3];       <span class="comment">//(m/s)</span>
<a name="l00321"></a>00321  <span class="keywordtype">float</span> v_accuracy; <span class="comment">//(m/s)</span>
<a name="l00322"></a>00322  u16   valid_flags;
<a name="l00323"></a>00323 }<a class="code" href="struct__mip__ecef__vel.html">mip_gps_ecef_vel</a>;
<a name="l00324"></a>00324 
<a name="l00325"></a>00325 
<a name="l00327"></a>00327 <span class="comment">// GPS Fix Information</span>
<a name="l00329"></a>00329 <span class="comment"></span>
<a name="l00330"></a><a class="code" href="struct__mip__fix__info.html">00330</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__fix__info.html">_mip_fix_info</a>
<a name="l00331"></a>00331 {
<a name="l00332"></a>00332  u8  fix_type;
<a name="l00333"></a>00333  u8  num_sv;
<a name="l00334"></a>00334  u16 fix_flags; 
<a name="l00335"></a>00335  u16 valid_flags;
<a name="l00336"></a>00336 }<a class="code" href="struct__mip__fix__info.html">mip_gps_fix_info</a>;
<a name="l00337"></a>00337 
<a name="l00338"></a>00338 
<a name="l00340"></a>00340 <span class="comment">// GPS SV (Space Vehicle) Information</span>
<a name="l00342"></a>00342 <span class="comment"></span>
<a name="l00343"></a><a class="code" href="struct__mip__gps__sv__info.html">00343</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__sv__info.html">_mip_gps_sv_info</a>
<a name="l00344"></a>00344 {
<a name="l00345"></a>00345  u8  channel, sv_id;
<a name="l00346"></a>00346  u16 carrier_noise_ratio; <span class="comment">//(dBHz)</span>
<a name="l00347"></a>00347  s16 azimuth, elevation;  <span class="comment">//(deg) </span>
<a name="l00348"></a>00348  u16 sv_flags;
<a name="l00349"></a>00349  u16 valid_flags;
<a name="l00350"></a>00350 }<a class="code" href="struct__mip__gps__sv__info.html">mip_gps_sv_info</a>;
<a name="l00351"></a>00351 
<a name="l00352"></a>00352 
<a name="l00354"></a>00354 <span class="comment">// GPS DOP (Dilution of Precision) Information</span>
<a name="l00356"></a>00356 <span class="comment"></span>
<a name="l00357"></a><a class="code" href="struct__mip__gps__dop.html">00357</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__dop.html">_mip_gps_dop</a>
<a name="l00358"></a>00358 {
<a name="l00359"></a>00359  <span class="keywordtype">float</span> gdop;        <span class="comment">//Geometric  DOP</span>
<a name="l00360"></a>00360  <span class="keywordtype">float</span> pdop;        <span class="comment">//Position   DOP</span>
<a name="l00361"></a>00361  <span class="keywordtype">float</span> hdop;        <span class="comment">//Horizontal DOP</span>
<a name="l00362"></a>00362  <span class="keywordtype">float</span> vdop;        <span class="comment">//Vertical   DOP</span>
<a name="l00363"></a>00363  <span class="keywordtype">float</span> tdop;        <span class="comment">//Time       DOP</span>
<a name="l00364"></a>00364  <span class="keywordtype">float</span> ndop;        <span class="comment">//Northing   DOP</span>
<a name="l00365"></a>00365  <span class="keywordtype">float</span> edop;        <span class="comment">//Easting    DOP</span>
<a name="l00366"></a>00366  u16   valid_flags;
<a name="l00367"></a>00367 }<a class="code" href="struct__mip__gps__dop.html">mip_gps_dop</a>;
<a name="l00368"></a>00368 
<a name="l00369"></a>00369 
<a name="l00371"></a>00371 <span class="comment">// GPS UTC (Coordinated Universal Time) Time</span>
<a name="l00373"></a>00373 <span class="comment"></span>
<a name="l00374"></a><a class="code" href="struct__mip__gps__utc__time.html">00374</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__utc__time.html">_mip_gps_utc_time</a>
<a name="l00375"></a>00375 {
<a name="l00376"></a>00376  u16 year;
<a name="l00377"></a>00377  u8  month, day;
<a name="l00378"></a>00378  u8  hour, min, sec;  
<a name="l00379"></a>00379  u32 msec;            <span class="comment">//milliseconds</span>
<a name="l00380"></a>00380  u16 valid_flags;
<a name="l00381"></a>00381 }<a class="code" href="struct__mip__gps__utc__time.html">mip_gps_utc_time</a>;
<a name="l00382"></a>00382 
<a name="l00383"></a>00383 
<a name="l00385"></a>00385 <span class="comment">// GPS Time</span>
<a name="l00387"></a>00387 <span class="comment"></span>
<a name="l00388"></a><a class="code" href="struct__mip__gps__time.html">00388</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__time.html">_mip_gps_time</a>
<a name="l00389"></a>00389 {
<a name="l00390"></a>00390  <span class="keywordtype">double</span> tow;  <span class="comment">//Time of Week (seconds)</span>
<a name="l00391"></a>00391  u16 week_number; 
<a name="l00392"></a>00392  u16 valid_flags;
<a name="l00393"></a>00393 }<a class="code" href="struct__mip__gps__time.html">mip_gps_time</a>;
<a name="l00394"></a>00394 
<a name="l00395"></a>00395 
<a name="l00397"></a>00397 <span class="comment">// GPS Clock Information</span>
<a name="l00399"></a>00399 <span class="comment"></span>
<a name="l00400"></a><a class="code" href="struct__mip__gps__clock__info.html">00400</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__clock__info.html">_mip_gps_clock_info</a>
<a name="l00401"></a>00401 {
<a name="l00402"></a>00402  <span class="keywordtype">double</span> bias;              <span class="comment">//sec</span>
<a name="l00403"></a>00403  <span class="keywordtype">double</span> drift;             <span class="comment">//sec/sec</span>
<a name="l00404"></a>00404  <span class="keywordtype">double</span> accuracy_estimate; <span class="comment">//sec</span>
<a name="l00405"></a>00405  u16    valid_flags;
<a name="l00406"></a>00406 }<a class="code" href="struct__mip__gps__clock__info.html">mip_gps_clock_info</a>;
<a name="l00407"></a>00407 
<a name="l00408"></a>00408 
<a name="l00410"></a>00410 <span class="comment">// GPS Hardware Status</span>
<a name="l00412"></a>00412 <span class="comment"></span>
<a name="l00413"></a><a class="code" href="struct__mip__gps__hw__status.html">00413</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__hw__status.html">_mip_gps_hw_status</a>
<a name="l00414"></a>00414 {
<a name="l00415"></a>00415  u8  sensor_state;
<a name="l00416"></a>00416  u8  antenna_state;
<a name="l00417"></a>00417  u8  antenna_power; 
<a name="l00418"></a>00418  u16 valid_flags;
<a name="l00419"></a>00419 }<a class="code" href="struct__mip__gps__hw__status.html">mip_gps_hw_status</a>;
<a name="l00420"></a>00420 
<a name="l00421"></a>00421 
<a name="l00423"></a>00423 <span class="comment">// DGPS Information</span>
<a name="l00425"></a>00425 <span class="comment"></span>
<a name="l00426"></a><a class="code" href="struct__mip__gps__dgps__info.html">00426</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__dgps__info.html">_mip_gps_dgps_info</a>
<a name="l00427"></a>00427 {
<a name="l00428"></a>00428  <span class="keywordtype">float</span> age;
<a name="l00429"></a>00429  s16   base_station_id;
<a name="l00430"></a>00430  s16   base_station_status;
<a name="l00431"></a>00431  u16   num_dgps_channels;
<a name="l00432"></a>00432  u16   valid_flags;
<a name="l00433"></a>00433 }<a class="code" href="struct__mip__gps__dgps__info.html">mip_gps_dgps_info</a>;
<a name="l00434"></a>00434 
<a name="l00435"></a>00435 
<a name="l00437"></a>00437 <span class="comment">// DGPS Channel Status</span>
<a name="l00439"></a>00439 <span class="comment"></span>
<a name="l00440"></a><a class="code" href="struct__mip__gps__dgps__channel__status.html">00440</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__mip__gps__dgps__channel__status.html">_mip_gps_dgps_channel_status</a>
<a name="l00441"></a>00441 {
<a name="l00442"></a>00442  u8    sv_id;
<a name="l00443"></a>00443  <span class="keywordtype">float</span> age;
<a name="l00444"></a>00444  <span class="keywordtype">float</span> pseudorange_correction;
<a name="l00445"></a>00445  <span class="keywordtype">float</span> pseudorange_rate_correction;
<a name="l00446"></a>00446  u16   valid_flags;
<a name="l00447"></a>00447 }<a class="code" href="struct__mip__gps__dgps__channel__status.html">mip_gps_dgps_channel_status</a>;
<a name="l00448"></a>00448 
<a name="l00449"></a>00449 
<a name="l00450"></a>00450 
<a name="l00451"></a>00451 <span class="preprocessor">#pragma pack()</span>
<a name="l00452"></a>00452 <span class="preprocessor"></span>
<a name="l00453"></a>00453 
<a name="l00454"></a>00454 
<a name="l00456"></a>00456 <span class="comment">//</span>
<a name="l00457"></a>00457 <span class="comment">// Function Prototypes</span>
<a name="l00458"></a>00458 <span class="comment">//</span>
<a name="l00460"></a>00460 <span class="comment"></span>
<a name="l00461"></a>00461 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#ae7f576fcc84a9ae171787c7fe704b37d">mip_gps_llh_pos_byteswap</a>(<a class="code" href="struct__mip__gps__llh__pos.html">mip_gps_llh_pos</a> *llh_pos);
<a name="l00462"></a>00462 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a0888c48327570d27f2ae66f97a5fd0de">mip_gps_ecef_pos_byteswap</a>(<a class="code" href="struct__mip__gps__ecef__pos.html">mip_gps_ecef_pos</a> *ecef_pos);
<a name="l00463"></a>00463 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a5b07d296b79bd06f664c592e08d2c870">mip_gps_ned_vel_byteswap</a>(<a class="code" href="struct__mip__gps__ned__vel.html">mip_gps_ned_vel</a> *ned_vel);
<a name="l00464"></a>00464 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a7556b657e5d6650a6613524a8c0b9c7c">mip_gps_ecef_vel_byteswap</a>(<a class="code" href="struct__mip__ecef__vel.html">mip_gps_ecef_vel</a> *ecef_vel);
<a name="l00465"></a>00465 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a3fe638ea56764a94277799d076a05046">mip_gps_fix_info_byteswap</a>(<a class="code" href="struct__mip__fix__info.html">mip_gps_fix_info</a> *fix_info);
<a name="l00466"></a>00466 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#acc0588bea68c2d434c5b71ed6ef9c6d4">mip_gps_sv_info_byteswap</a>(<a class="code" href="struct__mip__gps__sv__info.html">mip_gps_sv_info</a> *sv_info);
<a name="l00467"></a>00467 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#adb8499b625544241bacacae54a5bc4c6">mip_gps_dop_byteswap</a>(<a class="code" href="struct__mip__gps__dop.html">mip_gps_dop</a> *dop);
<a name="l00468"></a>00468 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a8967789fd443ee1464b1c4b3de80e89b">mip_gps_utc_time_byteswap</a>(<a class="code" href="struct__mip__gps__utc__time.html">mip_gps_utc_time</a> *utc_time);
<a name="l00469"></a>00469 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#aced9cf182b555fe02e7441170d14f2ad">mip_gps_time_byteswap</a>(<a class="code" href="struct__mip__gps__time.html">mip_gps_time</a> *gps_time);
<a name="l00470"></a>00470 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#afbd74a541844d8475349c9fb4879c637">mip_gps_clock_info_byteswap</a>(<a class="code" href="struct__mip__gps__clock__info.html">mip_gps_clock_info</a> *clock_info);
<a name="l00471"></a>00471 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a8d5736c4770910993066ba6e8e04d008">mip_gps_hw_status_byteswap</a>(<a class="code" href="struct__mip__gps__hw__status.html">mip_gps_hw_status</a> *hw_status);
<a name="l00472"></a>00472 
<a name="l00473"></a>00473 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#ad38526fe791ea71a85082d6ce1d8ecf5">mip_gps_dgps_info_byteswap</a>(<a class="code" href="struct__mip__gps__dgps__info.html">mip_gps_dgps_info</a> *dgps_info);
<a name="l00474"></a>00474 <span class="keywordtype">void</span> <a class="code" href="mip__sdk__gps_8h.html#a95d96a54b804d7fe9a46978ca7a1630b">mip_gps_dgps_channel_status_byteswap</a>(<a class="code" href="struct__mip__gps__dgps__channel__status.html">mip_gps_dgps_channel_status</a> *dgps_channel_status);
<a name="l00475"></a>00475 
<a name="l00476"></a>00476 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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